function y = ObjProjImg_c170(RPY, t, P)
% Tsai RPY convention: Roll-Pitch-Yall <-> rotz*roty*rotx
% Format:
% P = [X Y 0 1]';
% t = [tx ty tz]';

M = 1.0e+002*[7.622999999999999                   0   2.816000000000000
                              0   7.612000000000000   2.113000000000000
                              0                   0   0.010000000000000];

% M = 1.0e+002*[7.622999999999999                   0   3.20000000000000
%                               0   7.612000000000000   2.40000000000000
%                               0                   0   0.010000000000000];
                          
                          
W = rotz(RPY(1))*roty(RPY(2))*rotx(RPY(3));

W(1:3,4) = t;

W = W(1:3,1:4);

p = M*W*P;

p = p/p(3);

y = p;
                          
end